jfmcarreira
17dbd59338
Update copyrights to 2019 Minor code formating while passing formating script to all files
86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
/* This file is a part of Calyp project
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* Copyright (C) 2014-2019 by Joao Carreira (jfmcarreira@gmail.com)
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* Luis Lucas (luisfrlucas@gmail.com)
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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/**
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* \file DisparityStereoVar.cpp
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* \brief Measure the disparity between two images using the Stereo Var
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* method (OpenCV)
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*/
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#include "DisparityStereoVar.h"
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DisparityStereoVar::DisparityStereoVar()
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{
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/* Module Definition */
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m_iModuleAPI = MODULE_API_2;
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m_iModuleType = FRAME_PROCESSING_MODULE;
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m_pchModuleCategory = "Disparity";
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m_pchModuleName = "StereoVar";
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m_pchModuleTooltip = "Measure the disparity between two images using the "
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"Stereo Var method (OpenCV)";
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m_uiNumberOfFrames = MODULE_REQUIRES_TWO_FRAMES;
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m_uiModuleRequirements = MODULE_REQUIRES_SKIP_WHILE_PLAY | MODULE_REQUIRES_NEW_WINDOW;
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m_pcDisparityFrame = NULL;
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m_cStereoVar.levels = 3; // ignored with USE_AUTO_PARAMS
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m_cStereoVar.pyrScale = 0.5; // ignored with USE_AUTO_PARAMS
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m_cStereoVar.nIt = 25;
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m_cStereoVar.maxDisp = 0;
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m_cStereoVar.poly_n = 3;
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m_cStereoVar.poly_sigma = 0.0;
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m_cStereoVar.fi = 15.0f;
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m_cStereoVar.lambda = 0.03f;
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m_cStereoVar.penalization = m_cStereoVar.PENALIZATION_TICHONOV; // ignored with USE_AUTO_PARAMS
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m_cStereoVar.cycle = m_cStereoVar.CYCLE_V; // ignored with USE_AUTO_PARAMS
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m_cStereoVar.flags = m_cStereoVar.USE_SMART_ID | m_cStereoVar.USE_AUTO_PARAMS | m_cStereoVar.USE_INITIAL_DISPARITY |
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m_cStereoVar.USE_MEDIAN_FILTERING;
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}
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bool DisparityStereoVar::create( std::vector<CalypFrame*> apcFrameList )
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{
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_BASIC_MODULE_API_2_CHECK_
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m_pcDisparityFrame =
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new CalypFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), CalypFrame::GRAY );
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m_cStereoVar.minDisp = -( ( ( apcFrameList[0]->getWidth() / 8 ) + 15 ) & -16 );
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return true;
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}
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CalypFrame* DisparityStereoVar::process( std::vector<CalypFrame*> apcFrameList )
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{
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CalypFrame* InputLeft = apcFrameList[0];
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CalypFrame* InputRight = apcFrameList[1];
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cv::Mat* leftImage = InputLeft->getCvMat();
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cv::Mat* rightImage = InputRight->getCvMat();
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cv::Mat disparityImage, disparityImage8;
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m_cStereoVar( *leftImage, *rightImage, disparityImage );
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disparityImage.convertTo( disparityImage8, CV_8U );
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m_pcDisparityFrame->fromCvMat( &disparityImage8 );
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return m_pcDisparityFrame;
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}
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void DisparityStereoVar::destroy()
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{
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if( m_pcDisparityFrame )
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delete m_pcDisparityFrame;
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m_pcDisparityFrame = NULL;
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}
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